CN113686237B - Permanent magnet motor eccentricity diagnosis method based on linear Hall and detection system thereof - Google Patents

Abstract

The invention discloses a permanent magnet motor eccentricity diagnosis method based on linear Hall and a detection system thereof, belonging to the technical field of power generation, power transformation or power distribution. Firstly, respectively installing three linear Hall elements in a stator slot at the same space interval; secondly, converting analog signals output by the three-phase linear Hall into digital signals through a digital signal processor, and converting the digital signals into orthogonal signals through linear combination; furthermore, a complex factor filter with harmonic selection capability is adopted to extract a negative sequence signal and a sideband signal from the orthogonal signal; then, extracting the amplitude of the negative sequence signal and the amplitude of the sideband signal by adopting a synchronous reference system phase-locked loop to serve as a static eccentricity indicating quantity and a dynamic eccentricity indicating quantity; finally, the indicated amount is calculated in the digital signal processor as a percentage representing the degree of eccentricity. The invention realizes the rotor eccentricity detection with low cost, high compactness and high precision, effectively distinguishes the static eccentricity and the dynamic eccentricity degree, and can be applied to motors with various topological structures.

Description

A linear Hall-based eccentric diagnosis method and detection system for permanent magnet motors

technical field

The invention relates to an eccentricity detection technology of a permanent magnet motor, specifically discloses a linear Hall-based permanent magnet motor eccentricity diagnosis method and a detection system thereof, and belongs to the technical field of power generation, transformation or distribution.

Background technique

Rotor eccentricity is one of the most common faults in motors, and rotor eccentricity in permanent magnet synchronous motors directly leads to asymmetrical air gap lengths, resulting in unbalanced magnetic pull between the stator and rotor. The unbalanced magnetic pull can further lead to other electrical and mechanical problems, such as unbalanced current loads in different phases, noise and vibration. The continuous operation of permanent magnet synchronous motors will cause bearing wear, increased eccentricity and even bearing fracture. Therefore, the monitoring and diagnosis of rotor eccentricity is essential in the practical application of permanent magnet synchronous motors.

It is the most direct detection method to judge the rotor eccentricity by detecting the magnetic field distribution inside the permanent magnet motor. The invention patent with the patent number CN107192947A discloses a permanent magnet synchronous motor fault diagnosis method based on magnetic field monitoring. If the coil fault values corresponding to the coils wound on all stator teeth of the permanent magnet synchronous motor form two peaks, the fault type is determined to be eccentric Fault. The invention patent with the patent number CN109541461A discloses a permanent magnet synchronous motor eccentric fault diagnosis method based on magnetic field distribution monitoring. A coil is wound on each stator tooth. When the rotor rotates, the flux linkage value is derived from the coil voltage to further analyze the harmonic distribution. , can realize the identification of eccentric fault types, and can also accurately identify the degree and direction of eccentric faults. In the above-mentioned method of detecting eccentricity based on an additional winding, the voltage amplitude of the additional winding is proportional to the rotational speed, resulting in a large change in the amplitude of the output signal at different rotational speeds, which makes data collection difficult and increases hardware costs.

In order to realize the decoupling of signal amplitude and rotational speed, a linear Hall sensor can be used as the magnetic density detection element. The invention patent with the patent number CN108614212A discloses a decoupling diagnosis method and device for hub motor eccentricity and demagnetization faults. 2N Hall sensors are installed in two stator slots radially symmetrical to the center axis of the hub motor, and each stator slot There are N Hall sensors arranged equidistantly along the axial direction. The Hall sensors in the two radially symmetrical stator slots are on the same diameter line. The 2N Hall sensors are connected to the host computer through a multi-channel voltage signal acquisition box. Accurately identify faults based on fault eigenvalues to achieve the purpose of decoupling diagnosis of eccentricity and demagnetization coupled faults. However, this method cannot achieve accurate detection in a specific static eccentric state. The invention patent with the patent number CN113094952A discloses a static eccentricity detection method for permanent magnet motors based on stray magnetic fields. The use of the neural network model increases the amount of calculation for eccentricity detection, and the error between the neural network model and the actual motor parameters makes the eccentricity The robustness of the detection is low, and the computation load is large. In addition, none of the above detection methods can realize the eccentricity detection of the rotor permanent magnet type motor and the stator permanent magnet type motor at the same time.

The purpose of this application is to accurately and quickly detect and separate the static eccentricity detection and dynamic eccentricity detection in permanent magnet synchronous motors by rationally installing linear Hall elements and designing an eccentricity detection algorithm that is universally applicable to permanent magnet synchronous motors of different topologies.

Contents of the invention

The purpose of the present invention is to address the shortcomings of the above-mentioned background technology, to provide a linear Hall-based permanent magnet motor eccentricity diagnosis method and its detection system, and to install a linear Hall in the permanent magnet synchronous motor stator slot to detect the radial flux density The sensor processes the linear Hall output signal to obtain the real-time static eccentricity detection and real-time dynamic eccentricity detection of the rotor, and realizes the invention goal of low-cost non-intrusive real-time eccentricity detection for permanent magnet motors with various topologies, and solves the current problem. There are technical problems such as the difficulty in data collection of permanent magnet motor eccentricity detection technology, high hardware cost, and the inability to simultaneously detect static eccentricity and dynamic eccentricity of motors with different topologies

The present invention adopts following technical scheme for realizing above-mentioned purpose of the invention:

电角度；第三线性霍尔距第二线性霍尔相差/>

电角度。然后，根据三个线性霍尔元件的输出电压信号计算电机偏心程度。The invention proposes a method for diagnosing eccentricity of a permanent magnet motor based on a linear Hall, which is realized by a detection system composed of three linear Hall elements and a digital signal processor installed in a stator slot at the same interval. The magnetically sensitive surfaces of the three Hall elements are all opposite to the rotor surface with permanent magnets; among the three linear Hall elements, the first linear Hall element is installed at any position in the stator slot, along the circumferential direction, and the second The difference between the linear Hall and the first linear Hall

Electrical angle; the difference between the third linear Hall and the second linear Hall />

electrical angle. Then, the degree of motor eccentricity is calculated based on the output voltage signals of the three linear Hall elements.

The eccentricity diagnosis method for calculating the degree of eccentricity of the motor based on the output voltage signals of the three linear Hall elements is as follows:

(1) The digital signal processor converts the output voltage signals of the three linear Hall elements into digital signals through an analog-to-digital converter, and the digital signals are three-phase signals.

(2) Preprocess the three-phase signal into a quadrature signal with harmonics.

Assume here that the signals output by the three linear Halls are H _abc = [H _a , H _b , H _c ] ^T , the H _a signal comes from the second linear Hall element, and the H _b signal comes from the first linear Hall element , the H _c signal comes from the third linear Hall element. The preprocessing process is the linear combination of H _abc , and the three-phase signal is mapped to the two-phase stationary coordinate system. The processed orthogonal signal is H _αβ0 =[H _α H _β ,H ₀ ] ^T . Among them, H _α and H _β are the quadrature components, and H ₀ is the DC component. The model of the above linear combination is:

H _αβ0 ＝T _APS H _abc

(3) A complex factor filter with harmonic selection capability is used to extract negative sequence signals and sideband signals from the above quadrature signals.

The complex factor filter is formed by interconnecting the first detection filter, the second detection filter and the third detection filter. The quadrature signal H _αβ0 subtracts the output of the three detection filters as the intermediate signal. The intermediate signal is added to the output signal of the first detection filter as the input signal of the first detection filter, and the output signal of the first detection filter is a positive sequence signal; the intermediate signal is phased to the output signal of the second detection filter Add as the input signal of the second detection filter, the output signal of the second detection filter is the negative sequence signal; the intermediate signal and the output signal of the third detection filter are added as the input signal of the third detection filter, the third The output signal of the detection filter is the sideband signal.

The first detection filter can extract the positive sequence signal that is the same as the electrical frequency of the motor rotor rotation from the quadrature signal, and the first detection filter can be expressed as:

Among them, ω ₀ is the frequency of the positive sequence signal, which is the same as the rotating frequency of the motor rotor; ω _c =k _c *ω ₀ , k _c is a positive number and can be used to adjust the bandwidth of the detection filter, and ω _c is the cut-off frequency.

The second detector can extract the negative sequence signal opposite to the electrical frequency of the motor rotor rotation from the quadrature signal, and the second detector can be expressed as:

The third detector can extract the sideband signal near the positive sequence signal from the quadrature signal, and the third detector can be expressed as:

Among them, p is the number of pole pairs of the permanent magnet motor.

(4) Using the phase-locked loop of the first synchronous reference system to extract the amplitude of the negative sequence signal as the static eccentricity indicator, and using the phase-locked loop of the second synchronous reference system to extract the amplitude of the sideband signal as the dynamic eccentricity indicator.

(5) The double of the ratio of the static eccentricity indicator to the amplitude of the positive sequence component is taken as the static eccentricity percentage; The eccentricity percentage value is used as the eccentricity diagnostic quantity.

The present invention adopts the above-mentioned technical scheme, and has the following beneficial effects:

(1) The present invention detects the radial magnetic density of permanent magnet motors with different topological structures by installing Hall sensors at equal intervals in the circumferential direction of the stator slot, and performs linear combination, complex factor filtering, and phase-locking processing on the output data of the Hall sensors in sequence. Detect real-time eccentricity, and effectively separate static eccentricity detection and dynamic eccentricity detection, overcome the defect that existing eccentricity detection methods cannot accurately detect static eccentricity in a specific state, and realize highly compact and low-cost multi-topology permanent magnet motor eccentricity detection , and realize the separation of static eccentricity and dynamic eccentricity.

(2) The permanent magnet motor eccentricity diagnosis scheme disclosed in the present invention can be realized by using a low-cost Hall sensor and a digital signal processor into a non-invasive detection system, and compared with the permanent magnet motor eccentricity diagnosis scheme through additional windings , which solves the problem of difficult data collection and reduces hardware costs.

Description of drawings

Fig. 1 is a block diagram of the rotor permanent magnet motor eccentricity detection system based on the linear hall proposed by the present invention.

Fig. 2 is the rotor permanent magnet motor in embodiment 1.

Fig. 3 is the stator permanent magnet motor in embodiment 2.

Fig. 4 is a block diagram of a linear Hall-based permanent magnet motor eccentricity diagnosis method and a complex factor filter in the detection system proposed by the present invention.

FIG. 5 is a waveform diagram of three-phase signals output by three linear Hall elements and their corresponding quadrature signals, negative sequence signals, and sideband signals in Embodiment 1. FIG.

Explanation of symbols in the figure: 1. first linear Hall element, 2. second linear Hall element, 3. third linear Hall element, 4. motor under test, 6. linear combination unit 8. complex factor filter, 13. Digital signal processor, 14. The first addition and subtraction combination module, 15. The second addition and subtraction combination module, 16. The third addition and subtraction combination module, 17. The fourth addition and subtraction combination module, 18. The fifth addition and subtraction combination module.

Detailed ways

The technical solution of the invention will be described in detail below in conjunction with the accompanying drawings.

Example 1: Diagnosis of Eccentricity of Rotor Permanent Magnet Motor Based on Linear Hall Elements

电角度；第三线性霍尔3距第二线性霍尔2相差/>

电角度。Referring to Fig. 1, the present invention proposes a linear Hall-based permanent magnet motor eccentricity diagnosis method and its detection system. Hall element 2, a third linear Hall element 3, and a digital signal processor 13 for processing the output voltage of the Hall element. As shown in Figure 2, the tested motor 4 is a three-phase, 18-slot, 20-pole rotor permanent magnet motor. Three linear Hall elements are installed in the stator slots at intervals of 2 stator slot pitches. The magnetically sensitive surfaces are all opposite to the rotor surface with permanent magnets; among the three linear Hall elements, the first linear Hall element 1 is installed in any slot of the stator, and along the circumferential direction, the second linear Hall element 2 is away from the first Linear Hall 1 phase difference

Electrical angle; the difference between the third linear Hall 3 and the second linear Hall 2 />

electrical angle.

第二线性霍尔元件2和第三线性霍尔元件3输出电压信号的电角度相位差/>

Taking the counterclockwise direction as the positive direction, when the rotor rotates forward at a constant speed: the electrical angle phase difference of the output voltage signal of the first linear Hall element 1 and the second linear Hall element 2

The electrical angle phase difference of the output voltage signal of the second linear Hall element 2 and the third linear Hall element 3 />

Three linear Hall elements are connected to a digital signal processor 13 . The power supply voltage of the digital signal processor 13 is 3.3 volts. The H _a signal comes from the second linear Hall element 2, the H _b signal comes from the first linear Hall element 1, the H _c signal comes from the third linear Hall element 3, and the three linear Hall elements output 0-3.3V the analog voltage. In the digital signal processor 13, the output voltage signals of the three linear Hall elements are converted into three-phase original digital signals, expressed as H _abc =[H _a , H _b , H _c ] ^T .

The linear combination of the three-phase signals is shown in the following formula:

H _αβ0 ＝T _APS H _abc

in:

The orthogonal signal obtained after linear combination processing is H _αβ0 =[H _α H _β ,H ₀ ] ^T .

A complex factor filter with harmonic selection capability is used to extract negative sequence signals and sideband signals from quadrature signals.

As shown in Fig. 4, the complex factor filter is composed of a first detection filter, a second detection filter and a third detection filter interconnected. The output of the quadrature signal minus three detection filters is used as an intermediate signal, which is completed by the first addition and subtraction combination module 14, and the output of the three detection filters is accumulated by the fifth addition and subtraction combination module 18 and then sent to the first addition and subtraction combination Module 14. The intermediate signal is added to the output signal of the first detection filter as the input signal of the first detection filter, which is completed by the second addition and subtraction combination module 15; the intermediate signal is added to the output signal of the second detection filter as the second The input signal of the detection filter is completed by the third addition and subtraction combination module 16; the addition of the intermediate signal and the output signal of the third detection filter as the input signal of the third detection filter is completed by the fourth addition and subtraction combination module 17.

The first detection filter extracts the positive sequence signal with the same frequency as the motor rotor rotating electrical frequency from the quadrature signal, and the first detection filter can be expressed as:

Wherein, ψ ₀ is the frequency of the positive sequence signal, ψ _c =k _c *ω ₀ , k _c =0.707.

The second detection filter extracts the negative sequence signal opposite to the electrical frequency of the motor rotor rotation from the quadrature signal, and the second detection filter can be expressed as:

The third detection filter extracts the sideband signal near the positive sequence signal from the quadrature signal, and the third detection filter can be expressed as:

Wherein, p is the number of pole pairs of the permanent magnet motor, and p=10.

(4) Using the phase-locked loop of the first synchronous reference system to extract the amplitude of the negative sequence signal as the static eccentricity indicator, and using the phase-locked loop of the second synchronous reference system to extract the amplitude of the sideband signal as the dynamic eccentricity indicator.

(5) Finally, twice the ratio of the static eccentricity indicator to the amplitude of the positive sequence component is used as the static eccentricity percentage; the ratio of the dynamic eccentricity indicator to the amplitude of the positive sequence component is used as the dynamic eccentricity percentage, and the percentage value is used as the eccentricity diagnosis quantity.

The following simulation is carried out in combination with specific eccentricity conditions, and the results refer to Figure 5, which shows the three-phase signal, quadrature signal, negative sequence signal and sideband signal respectively. The amplitude of the negative sequence signal extracted by the phase-locked loop of the first synchronous reference frame is shown by the dotted line; the amplitude of the sideband signal extracted by the phase-locked loop of the second synchronous reference frame is shown by the dotted line.

(1) Before 0.3s, the motor 4 under test was in a non-eccentric state, and the signal frequency was 600Hz. The negative sequence component output by the complex factor filter is 0; the sideband component is 0.

(2) Between 0.3 and 0.7s, the signal frequency is 600Hz, the motor 4 under test is in a static eccentric state, and the static eccentric distance is 0.3 times the length of the air gap. The amplitude of the negative sequence signal output by the complex factor filter rises and stabilizes to a constant value; the amplitude of the sideband signal rises first and then converges to zero. Since the dynamic eccentricity is a time-varying static eccentricity, there will be malfunctions when the static eccentricity first appears, but the predicted value of the dynamic eccentricity will converge to the actual value in a short time.

(3) Between 0.7 and 1.1s, the signal frequency is 600Hz, the motor 4 under test is in a mixed eccentric state, and the static eccentric distance is 0.3 times the air gap length, and the dynamic eccentric distance is 0.2 times the air gap length. The amplitude of the negative sequence signal output by the complex factor filter remains basically unchanged; the amplitude of the sideband signal rises and remains basically unchanged.

(3) Between 1.1 and 1.5s, the motor 4 under test is in a mixed eccentric state, and the static eccentric distance is 0.3 times the air gap length, the dynamic eccentric distance is 0.2 times the air gap length, and the speed changes from 600Hz to 200Hz. The result of eccentricity detection is basically unchanged, and the system is suitable for different speeds.

Finally, twice the ratio of the static eccentricity indicator to the amplitude of the positive sequence component is regarded as the static eccentricity percentage 30%; the ratio of the dynamic eccentricity indicator to the amplitude of the positive sequence component is regarded as the dynamic eccentricity percentage 20%.

Embodiment 2: Diagnosis of eccentricity of stator permanent magnet motor based on linear Hall element

电角度；第三线性霍尔3距第二线性霍尔2相差

电角度。Referring to Fig. 1, the present invention proposes a linear Hall-based permanent magnet motor eccentricity diagnosis method and a detection system thereof, wherein the motor 4 under test, as shown in Fig. 3, is a three-phase, 12-slot, 10-pole stator permanent magnet type motor. Three linear Hall elements are installed in the stator slots, separated by 1 stator slot pitch. The magnetically sensitive surfaces of the Hall elements are all opposite to the salient pole surface of the rotor with permanent magnets; among the three linear Hall elements, the first linear Hall element 1 is installed in any slot of the stator, along the same direction, and the second linear Hall element Hall 2 differs from first linear Hall 1

Electrical angle; the difference between the third linear Hall 3 and the second linear Hall 2

electrical angle.

第二线性霍尔元件2和第三线性霍尔元件3输出电压信号的电角度相位差/>

Taking the counterclockwise direction as the positive direction, when the rotor rotates forward at a constant speed: the electrical angle phase difference of the output voltage signal of the first linear Hall element 1 and the second linear Hall element 2

The electrical angle phase difference of the output voltage signal of the second linear Hall element 2 and the third linear Hall element 3 />

Three linear Hall elements are connected to a digital signal processor 13 . The power supply voltage of the digital signal processor 13 is 3.3 volts. The H _a signal comes from the second linear Hall element 2 , the H _b signal comes from the first linear Hall element 1 , the H _c signal comes from the third linear Hall element 3 , and outputs an analog voltage of 0-3.3V. In the digital signal processor, the output voltage signals of the three linear Hall elements are converted into three-phase original digital signals, expressed as H _abc =[H _a , H _b , H _c ] ^T .

The progressive linear combination of the three-phase signals is as follows:

H _αβ0 ＝T _APS H _abc

in:

The processed orthogonal signal is H _αβ0 =[H _α H _β ,H ₀ ] ^T .

A complex factor filter with harmonic selection capability is used to extract negative sequence signals and sideband signals from quadrature signals.

The complex factor filter is composed of a first detection filter, a second detection filter and a third detection filter interconnected. The output of the quadrature signal minus the three detection filters is used as the intermediate signal. The intermediate signal is added to the output signal of the first detection filter as the input signal of the first detection filter; the intermediate signal is added to the output signal of the second detection filter as the input signal of the second detection filter; the intermediate signal is added to the output signal of the second detection filter; The output signals of the third detection filter are summed as the input signal of the third detection filter.

The first detection filter extracts the positive sequence signal with the same frequency as the motor rotor rotating electrical frequency from the quadrature signal, and the first detection filter can be expressed as:

Wherein, ω ₀ is the frequency of the positive sequence signal, ω _c =k _c *ω ₀ , k _c =0.707.

The second detection filter can extract the negative sequence signal opposite to the electrical frequency of the motor rotor rotation from the quadrature signal, and the second detection filter can be expressed as:

The third detection filter can extract the sideband signal near the positive sequence signal from the quadrature signal, and the third detection filter can be expressed as:

Wherein, p is the number of poles of the permanent magnet motor, and p=10.

(4) Using the phase-locked loop of the first synchronous reference system to extract the amplitude of the negative sequence signal as the static eccentricity indicator, and using the phase-locked loop of the second synchronous reference system to extract the amplitude of the sideband signal as the dynamic eccentricity indicator.

(5) Finally, twice the ratio of the static eccentricity indicator to the amplitude of the positive sequence component is used as the static eccentricity percentage; the ratio of the dynamic eccentricity indicator to the amplitude of the positive sequence component is used as the dynamic eccentricity percentage, and the percentage value is used as the eccentricity diagnosis quantity.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any equivalent replacement or change made by the idea to the technical solution shall fall within the protection scope of the present invention.

Claims (10)

1. A method for diagnosing the eccentricity of a permanent magnet motor based on a linear Hall, characterized in that the first linear Hall element, the second linear Hall element, and the third linear Hall element are installed at equal intervals in the stator slot along the circumferential direction , the magnetically sensitive surfaces of the linear Hall elements are all opposite to the permanent magnets on the surface of the rotor, and the output voltages of the three linear Hall elements are linearly combined to obtain an orthogonal signal including a pair of orthogonal components and a DC component, from which Extract the positive sequence signal, negative sequence signal and sideband signal from the quadrature signal, extract the amplitude of the negative sequence signal as the static eccentricity indicator, extract the amplitude of the sideband signal as the dynamic eccentricity indicator, according to the static The static eccentricity percentage is obtained by the ratio of the eccentricity indicator to the amplitude of the positive sequence signal, and the dynamic eccentricity percentage is obtained according to the ratio of the dynamic eccentricity indicator to the amplitude of the positive sequence signal. 2. A kind of permanent magnet motor eccentricity diagnosis method based on linear Hall according to claim 1, is characterized in that, three linear Hall element output voltages are linearly combined to obtain a pair of orthogonal components and a DC component The expression of the quadrature signal is: H _αβ0 ＝T _APS H _abc , H _abc is the vector composed of the output voltages of three linear Hall elements, H _abc ＝[H _a , H _b , H _c ] ^T , H _a is the first The output voltage of the two linear Hall elements, H _b is the output voltage of the first linear Hall element, H _c is the output voltage of the third linear Hall element, H _αβ0 is the quadrature signal, H _αβ0 = [H _α H _β , H ₀ ] ^T , H _α and H _β are the orthogonal components, H ₀ is the DC component, T _APS is the linear combination coefficient matrix,

is the electrical angle between two adjacent linear Hall elements. 3. a kind of permanent magnet motor eccentricity diagnosis method based on linear Hall according to claim 1, is characterized in that, the expression of extracting described positive sequence signal is:

F ₁ (s) is the expression of the positive sequence signal in the s domain, ω ₀ is the frequency of the positive sequence signal, ω _c is the cut-off frequency, ω _c =k _c *ω ₀ , and k _c is a positive number. 4. a kind of permanent magnet motor eccentric diagnosis method based on linear Hall according to claim 1, is characterized in that, the expression of described negative sequence signal is:

F ₂ (s) is the expression of the negative sequence signal in the s domain, ω ₀ is the frequency of the positive sequence signal, ω _c is the cut-off frequency, ω _c =k _c *ω ₀ , and k _c is a positive number. 5. a kind of permanent magnet motor eccentric diagnosis method based on linear Hall according to claim 1, is characterized in that, the expression that extracts described sideband signal is:

F ₃ (s) is the expression of the sideband signal in the s domain, ω ₀ is the frequency of the positive sequence signal, ω _c is the cut-off frequency, ω _c =k _c *ω ₀ , k _c is a positive number, and p is the permanent magnet The number of pole pairs of the motor. 6 . A method for diagnosing eccentricity of a permanent magnet motor based on linear Hall according to claim 1 , wherein the static eccentricity percentage is twice the ratio of the static eccentricity indicator to the positive sequence signal amplitude. 7. A method for diagnosing eccentricity of a permanent magnet motor based on a linear Hall according to any one of claims 1 to 6, wherein the method is used for a stator permanent magnet motor or a rotor permanent magnet motor. 8. A detection system based on the eccentricity of a linear Hall permanent magnet motor, characterized in that it comprises: The first linear Hall element is installed in the stator slot, and the magnetically sensitive surface is opposite to the permanent magnet on the surface of the rotor; The second linear Hall element is installed in the stator slot at a circumferential distance from the first linear Hall element

Electrical angle, the magnetically sensitive surface is opposite to the permanent magnet on the rotor surface; The third linear Hall element is installed in the stator slot and is at a circumferential distance from the second linear Hall element

electrical angle, the magnetically sensitive surface is opposite to the permanent magnet on the rotor surface; and, A digital signal processor is used to linearly combine the output voltages of the three linear Hall elements to obtain a quadrature signal including a pair of quadrature components and a DC component, and extract positive sequence signals, negative sequence signals and edge signals from the quadrature signals. Band signal, extracting the amplitude of the negative sequence signal as the static eccentricity indicator, extracting the amplitude of the sideband signal as the dynamic eccentricity indicator, and obtaining the static eccentricity percentage according to the ratio of the static eccentricity indicator to the positive sequence signal amplitude , according to the ratio of the dynamic eccentricity indicator to the positive sequence signal amplitude, the dynamic eccentricity percentage is obtained. 9. A kind of detection system based on the eccentricity of the permanent magnet motor of linear Hall according to claim 8, is characterized in that, described digital signal processor comprises: The linear combination unit receives the output voltages of three linear Hall elements, and outputs a quadrature signal including a pair of quadrature components and a DC component; A complex factor filter, the input end of which is connected to the output end of the combination unit, extracts the positive sequence signal, negative sequence signal and sideband signal from the quadrature signal and then outputs it; The first synchronous reference frame phase-locked loop receives the negative sequence signal output by the complex factor filter, extracts the amplitude of the negative sequence signal and outputs it; The second synchronous reference frame phase-locked loop receives the sideband signal output by the complex factor filter, extracts the amplitude of the sideband signal and outputs it; and, The calculation unit receives the negative sequence signal amplitude and the sideband signal amplitude output by the complex factor filter, receives the positive sequence signal output by the complex factor filter, calculates the ratio of the negative sequence signal amplitude to the positive sequence signal amplitude, and outputs static Eccentricity percentage, output dynamic eccentricity percentage after calculating the ratio of sideband signal amplitude to positive sequence signal amplitude. 10. A kind of detection system based on linear Hall permanent magnet motor eccentricity according to claim 9, is characterized in that, described complex factor filter comprises: The first addition and subtraction combination module, its first input terminal is connected to the quadrature signal, its second input terminal is connected to the output terminal of the fifth addition and subtraction combination module, and the output is to eliminate the positive sequence signal, negative sequence signal and sideband signal from the orthogonal signal After the intermediate signal; The second addition and subtraction combination module, its first input terminal is connected to the output terminal of the first addition and subtraction combination module, its second input terminal is connected to the output terminal of the first detection filter, and the accumulation result of the intermediate signal and the positive sequence signal is output; The third addition and subtraction combination module, its first input terminal is connected to the output terminal of the first addition and subtraction combination module, its second input terminal is connected to the output terminal of the second detection filter, and the cumulative result of the intermediate signal and the negative sequence signal is output; The fourth addition and subtraction combination module, its first input terminal is connected to the output terminal of the first addition and subtraction combination module, its second input terminal is connected to the output terminal of the third detection filter, and the accumulation result of the intermediate signal and the sideband signal is output; The first detection filter, whose input terminal is connected to the output terminal of the second addition and subtraction combination module, outputs a positive sequence signal; The second detection filter, whose input terminal is connected to the output terminal of the third addition and subtraction combination module, outputs a negative sequence signal; and, The input terminal of the third detection filter is connected to the output terminal of the fourth addition and subtraction combination module to output sideband signals.

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